Attitude self-correcting underground transportation apparatus based on UWB technology and control method thereof

Abstract

The present application relates to an attitude self-correcting underground transportation apparatus based on UWB technology and a control method thereof. A transport clamping and fastening mechanism is mounted on an upper platform part of a six-degree-of-freedom motion platform. An attitude perception and sensing set at least includes three UWB tags being configured to acquire position information. A control module is electrically connected to the attitude perception and sensing set, the six-degree-of-freedom motion platform, and the transport clamping and fastening mechanism separately, and is configured to send an electric signal to drive the six-degree-of-freedom motion platform and the transport clamping and fastening mechanism to grip an object to be transported, collect positioning information of the attitude perception and sensing set, calculate the attitude of the six-degree-of-freedom motion platform in real time, and perform attitude adjustment with reference to an expected position and attitude to maintain a smooth transportation process.

What is claimed is: 
     
       1. An attitude self-correcting underground transportation apparatus based on ultra-wide band (UWB) technology, comprising: a six-degree-of-freedom motion platform, a transport clamping and fastening mechanism, an attitude perception and sensing device, and a control module, wherein
 the transport clamping and fastening mechanism is mounted on an upper surface of an upper platform part of the six-degree-of-freedom motion platform; 
 the attitude perception and sensing device at least includes three UWB tags, the UWB tags in the attitude perception and sensing device being distributed on a circumferential side of the upper platform part of the six-degree-of-freedom motion platform at equal distance and being configured to acquire position information; and 
 the control module is electrically connected to the attitude perception and sensing device, the six-degree-of-freedom motion platform, and the transport clamping and fastening mechanism separately, and is configured to send an electric signal to drive the six-degree-of-freedom motion platform and the transport clamping and fastening mechanism to grip an object to be transported, collect positioning information of the attitude perception and sensing device, calculate the attitude of the upper platform part of the six-degree-of-freedom motion platform in real time, and perform attitude adjustment with reference to an expected position and attitude to maintain a smooth transportation process; 
 wherein the transport clamping and fastening mechanism comprises a clamping component, a first holder set, a second holder set, and an explosion-proof servo motor set; 
 the clamping component comprises four ball screws of same specifications, each of the ball screws having two ball nuts capable of relative motion and a gripping jaw being fixed on each of the ball nuts; and the explosion-proof servo motor set comprises four explosion-proof servo motors; the first holder set comprises two first holding bases; and the second holder set comprises two second holding bases; 
 each of the explosion-proof servo motors is connected at one end of the corresponding ball screw via a coupler, another ends of two of the ball screws are inserted into the first holding bases, which are corresponding, respectively, and another ends of another two of the ball screws are inserted into the second holding bases, which are corresponding, respectively; two of the explosion-proof servo motors are fixed abreast at a first position on the upper surface of the upper platform part of the six-degree-of-freedom motion platform, and another two of the explosion-proof servo motors are fixed abreast at a second position on the upper surface of the upper platform part of the six-degree-of-freedom motion platform; and the first holding bases are fixed abreast at a third position on the upper surface of the upper platform part of the six-degree-of-freedom motion platform, and the second holding bases are fixed abreast at a fourth position on the upper surface of the upper platform part of the six-degree-of-freedom motion platform, the first, second, third, and fourth positions being selected in such a manner that the four ball screws are arranged in two rows and two columns to form a #-shaped pattern on the upper surface of the upper platform part of the six-degree-of-freedom motion platform. 
 
     
     
       2. The apparatus according to  claim 1 , wherein the six-degree-of-freedom motion platform comprises a main support, an attitude drive mechanism, and the upper platform part; and
 an upper surface of the main support is movably connected to a tail end of the attitude drive mechanism, a movable top end of the attitude drive mechanism is connected to a lower surface of the upper platform part, and the transport clamping and fastening mechanism is mounted on the upper surface of the upper platform part. 
 
     
     
       3. The apparatus according to  claim 2 , wherein the main support is a hollow steel frame. 
     
     
       4. The apparatus according to  claim 2 , wherein the upper platform part is a solid platform. 
     
     
       5. The apparatus according to  claim 2 , wherein the attitude drive mechanism comprises six explosion-proof servo-electric cylinders that are grouped into three sets of attitude drive components;
 a tail end of each of the explosion-proof servo-electric cylinders in the three sets of attitude drive components is separately mounted at one of mounting points corresponding to the upper surface of the main support via a universal ball hinge, in such a manner that a first equilateral triangle is formed by connecting the mounting points corresponding to the tail ends of the explosion-proof servo-electric cylinders in the three sets of attitude drive components; 
 a top end of each of the explosion-proof servo-electric cylinders in the three sets of attitude drive components is separately mounted at one of mounting points corresponding to the lower surface of the upper platform part separately via a hinge, in such a manner that a second equilateral triangle is formed by connecting the mounting points corresponding to the top ends of the explosion-proof servo-electric cylinders in the three sets of attitude drive components; and 
 a side length of the first equilateral triangle is greater than that of the second equilateral triangle. 
 
     
     
       6. The apparatus according to  claim 5 , wherein the tail ends of the two explosion-proof servo-electric cylinders in each of sets of the attitude drive components are respectively mounted abreast at the mounting points via the universal ball hinge; and the top ends of the two explosion-proof servo-electric cylinders in each of sets of the attitude drive components are respectively mounted abreast at the mounting points via the hinge. 
     
     
       7. The apparatus according to  claim 1 , wherein the control module is an embedded core controller based on an STM32 platform. 
     
     
       8. The apparatus according to  claim 1 , wherein the control module is arranged on the upper platform part of the six-degree-of-freedom motion platform.